#ifndef __STEPDRV_H_
#define __STEPDRV_H_

#include "main.h"
#include "userheader.h"
#include "tim.h"

extern StepObiectDef XSO;
extern StepObiectDef YSO;
extern PIDDef XPID;
extern PIDDef YPID;

void YSO_Start(void);
void XSO_Start(void);
void XSO_End(void);
void YSO_End(void);
void locatesmooth(void);
void traceRun(void);
void PIDSetParam(PIDDef *hPID,float Kp,float Ki,float Kd,float Imax,int Deadzone,int Izone);
int Incremental_PID(int reality,int target,PIDDef* hPID);

#endif
